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Abstract

Disclosed is a high-precision vehicle velocity calculation method. The method includes: calculating a tire slip rate at the current moment, determining whether the slip rate is smaller than a threshold value, if so, continuing to correct a tire radius and acceleration; establishing a relational expression for tire angular acceleration, an acceleration measured value, an acceleration offset and a tire radius at the current moment; building a system prediction model; building a measurement system model; substituting the system prediction model and the measurement system model into a Kalman filter prediction model, to acquire a corrected value of the tire radius at the current moment and a corrected value of the acceleration offset at the current moment; and calculating a vehicle velocity at the current moment based on the corrected value of the tire radius at the current moment and the corrected value of the acceleration offset at the current moment.

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First Claim